#!/usr/bin/env python
PACKAGE = "global_planner"

from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, bool_t

gen = ParameterGenerator()

gen.add("lethal_cost",  int_t,   0, "Lethal Cost",  253, 1, 255)
gen.add("neutral_cost", int_t,   0, "Neutral Cost",  50, 1, 255)
gen.add("cost_factor", double_t, 0, "Factor to multiply each cost from costmap by", 3.0, 0.01, 5.0)
gen.add("publish_potential", bool_t, 0, "Publish Potential Costmap", True)

orientation_enum = gen.enum([ 
    gen.const("None",        int_t, 0, "No orientations added except goal orientation"),
    gen.const("Forward",     int_t, 1, "Orientations point to the next point on the path"),
    gen.const("Interpolate", int_t, 2, "Orientations are a linear blend of start and goal pose"),
    gen.const("ForwardThenInterpolate", 
                             int_t, 3, "Forward orientation until last straightaway, then a linear blend until the goal pose"),
                            ], "How to set the orientation of each point")

gen.add("orientation_mode",  int_t, 0, "How to set the orientation of each point", 1, 0, 3,
        edit_method=orientation_enum)

exit(gen.generate(PACKAGE, "global_planner", "GlobalPlanner"))
